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Post by gmau on RS232 Communication in CODESYS Control RTE V3 ^{CODESYS Forge} ^talk ^(Post)
Hello, I would like to implement RS232 communication into CODESYS Control RTE V3. I was writing the program testing it on CODESYS Control Win V3, where it worked fine. When I changed it to RTE, the communication was on, but I cannot send the data between PLC and scale - there is no or little response from scale - mostly one time receive and that is it. On Win V3 it was working fine. I read that I am supposed to configure CODESYSControl file for a proper communication using RTE, but even after that I can not get a stable and working communication. I am attaching my CODESYSControl and CODESYSControlUser data below, as well as I am sending the code from communication function. The communication should be through COM1 port of PC. CODESYS Version: CODESYS V3.5 SP21 + (64-bit) Runtime + Version: CODESYS Control RTE V3 Version 3.5.21.0 / CODESYS Gateway V3 - x64 Version 2.5.21.0 I would be much gratefull for any help. Sincerely,
Last updated: 2025-07-16

Post by timvh on Current Visu name without Current Visu Variable ^{CODESYS Forge} ^talk ^(Post)
To get the current visu for all your individual web clients, you could iterate over them, using the same library 1) Create a new function block which implements VU.IVisualizationClientIteration 2) Create an instance of this function block + add an instance of the "iterate" function block fbIterateCallBack : FB_IterateOverClients; // this implements VU.IVisualizationClientIteration fbVuIterate : VU.FbIterateClients; // this FB iterates over all clients 3) Call the fbVuIterate and set the reference to the call back FB. Then it will automatically call the method "HandleClient" of this function block. fbVuIterate( xExecute:= NOT fbVuIterate.xDone, xDone=> , xBusy=> , xError=> , itfClientFilter:= VU.Globals.OnlyWebVisu, eError=> , itfIterationCallback:= fbIterateCallBack); In the HandleClients method you can use the property of the interface of your webclient to which page it is currently on: sCurrentVisuOfClient := itfClient.CurrentVisuName; 4) Optionally from here you could also set the visu for the webclient, but this might be obsolete, because the other function block is now available... xQueryOK : BOOL; xChangePage : BOOL; itfVisuClientRawData : VU.IVisualizationClientRaw; xQueryOK := __QUERYINTERFACE(itfClient, itfVisuClientRawData); IF xQueryOK AND xChangePage THEN VisuElems.g_VisuManager.SetMainVisu(pClientData := itfVisuClientRawData.ClientDataPointer, stVisu := 'Visu2'); xChangePage := FALSE; END_IF
Last updated: 2025-08-13

Post by kurtk on dynamic modbus devices ^{CODESYS Forge} ^talk ^(Post)
I am CODESYS neophyte getting my wheels on. My goal is to re-platform an existing PLC application written in 61131 ST I've got the majority of the code/variables in a compilable form - excluding all the IO and comms nuances I am not sure whether this the right forum An important functionality which I implemented on the other platform was totally dynamic modbus devices... Most configurations I have come across impose static MB configs in which all configured devices MUST be present and functional... I have monkeyed around with MB enough to know that herding a half dozen MB cats into a working config can be tricky. I just do them one at a time and dynamically turn them on/off in whatever combination is convenient with ID, IP, baud, parity etc being runtime tweakable. I am totally curious whether this is possible with codesys, or whether its device configuration corrals one into a static cage which requires re-building the code to support flexible variations. Best regards
Last updated: 2025-08-19

Post by kurtk on runtime dynamic modbus devices ^{CODESYS Forge} ^talk ^(Post)
I am CODESYS neophyte getting my wheels on. My goal is to re-platform an existing PLC application written in 61131 ST I've got the majority of the code/variables in a compilable form - excluding all the IO and comms nuances I am not sure whether this the right forum An important functionality which I implemented on the other platform was totally dynamic modbus devices... Most configurations I have come across impose static MB configs in which all configured devices MUST be present and functional... I have monkeyed around with MB enough to know that herding a half dozen MB cats into a working config can be tricky. I just do them one at a time and dynamically turn them on/off in whatever combination is convenient with ID, IP, baud, parity etc being runtime tweakable. I am totally curious whether this is possible with codesys, or whether its device configuration corrals one into a static cage which requires re-building the code to support flexible variations. Best regards
Last updated: 2025-08-19

Post by pernockham on AC Persistence - values are not read from file during start? ^{CODESYS Forge} ^talk ^(Post)
Im struggling with the AC Persistence. AC persistence seems to work for any variable that is changed online and values are kept during reboot. However, if I try to edit the persistence files offline or replace the persistence files with a previously downloaded older persistence file (with modified values), the online value will not follow, as if the system did not at all read the file at boot? My testing sequence. - Edit a the value of a persistenced variable (with xSaveOnChange = True) - Save/download the associated persistence file, (and confirm the value has changed). - Edit the value online for a second time . - Stop runtime - Replace (upload) the persistence file with my previously downloaded file . - Coldstart/Warmstart/Start runtime - Whatever Im trying the value of my persistence variable will always be equal to that of my second edit as if the file is not read/considered during boot. What am I doing wrong?
Last updated: 2025-09-02

Post by leandroct on Creating Boot Application not working ^{CODESYS Forge} ^talk ^(Post)
I have a Control Win V3.5 SP20 (64-bit) application, and until now, I open the program (with a password) and download it. However, I need to give the client the option to install the program on the Controller, without them having to open it and access the code. So, I followed these steps: 1 – In the Online => Create Boot Application menu, I saved the generated files in a directory: Application.app Application.crc PlcLogic\visu\ directory with several files 2 – In the SysTray, I ran the PLC, and it created a directory. In the root of this directory (C:\ProgramData\CODESYS\CODESYSControlWinV3x64\E84889DB), I pasted Application.app and Application.crc. Since it created a \visu directory, I pasted the PlcLogic\visu\ files generated in Create Boot Application into it. 3 - In the general Codesys directory (C:\ProgramData\CODESYS\CODESYSControlWinV3x64), I edited CodesysControl.cfg, adding: [CmpLog] Application.1=Application 4 - When running the PLC, nothing happens and the TargetVisu screen does not open. What I'm doing wrong?
Last updated: 2025-09-03

Post by timvh on Codesys virtual control redundancy ^{CODESYS Forge} ^talk ^(Post)
I think it depends on what you consider as redundant. Is it allowed to plug the network cable in another device (server), move the USB key with license to the other device (server) and then start it up? Or should it automatically switch over within msec and take over the communication with the I/O flawlessly without noticing the switchover? We helped several customers setting up the CODESYS Redundancy functionality and the nice thing is that when you have it up and running, you can easily switchover from active to passive and when you download a new applicaiton, CODESYS handles the update of boot project on the passive controller automatically. Sure this will require an additional license and the license for redundancy, but if your installation is that critical it should be worth it. Please contact us (Extend Smart Coding) if you need any further information. We could help you setup the configuration and possibly provide the licenses for it (I noticed you are situated in the Netherlands).
Last updated: 2025-09-04

Post by ranadheer on Codesys Control for PLCnext (PLC - AXL F 2152) ^{CODESYS Forge} ^talk ^(Post)
Hello Jaco Pretorius, I came across your post regarding CodeSys control for PLCnext. I’m currently working on a similar setup and had a quick question. Here am using the CODESYS V3.5 SP21 PATCH2 ,VERSION 3.5.21.20 , and Downloaded extension package 4.16.0.0 (old versions are not available in the extension CodeSys installer) Devices used here are: BUS COUPLER : 2403869 BK PN TPS Module carrier slot 1 : 1088127 AXL SE DI16/1 Module carrier slot 2 : 1088062 AXL SE AI4 | 4-20 Module carrier slot 3 : 1088129 AXL SE DO16/1 Module carrier slot 4 : 1088123 AXL SE AO4 | 4-20 -->Start a New Project Type: Standard Project Device: CODESYS Control Win V3 x64 Language: Structured Text -->Install GSDML File Navigate to: Tools > Device Repository > Install Select the GSDML file path (downloaded from Phoenix Contact for device coupler Part ID: BK PN TPS 2403869) Click Renew Device Repository Close the dialog -->Add Device to Project -->Right-click on Devices > Add Device Issue: Devices from the repository are not available to select or call into the project! I’d really appreciate any guidance or suggestions you can offer. Best Regards Ranadheer Reddy
Last updated: 2025-09-09

Post by gseidel on AXIS_REF_SM3 Error Codes? ^{CODESYS Forge} ^talk ^(Post)
Hi SLUCodesys, dwErrorId is a drive specific error number. The drive documentation should be consulted to interpret it. (Note that you should use MC_ReadAxisError to read this error, see https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Diagnostics/MC_ReadAxisError.html. Accessing the internal variable will result in outdated values if the acis error is not mapped by PDO and is not recommended in general.) uiDriveInterfaceError holds errors of the SoftMotion driver for the drive. It is also an internal variable, not intended for direct access. It is intended for logging, the PLC log will contain the drive interface error, consisting of this number and an error text. My recommendation for handling axis errors in the CODESYS application: 1) Use MC_ReadStatus on the axis to find out whether it is in state Errorstop 2) If in Errorstop, there are two possibilities: an error reported by the drive (MC_ReadAxisError) or an error of the SoftMotion function blocks (output MC_ReadStatus.FBErrorOccured). 3) If there is no drive error, you can use SMC_ReadFBError https://content.helpme-codesys.com/en/libs/SM3_Basic/Current/SM3_Basic/POUs/Diagnostics/FBError/SMC_ReadFBError.html Best regards, Georg
Last updated: 2025-09-24

Post by nicetuxedo on Can not activate license on Raspberry pi ^{CODESYS Forge} ^talk ^(Post)
Hello everyone, I'm hoping for some assistance with a license activation issue: a software crash has left my license in a strange state. Here is the sequence of events: I purchased a new license for the Raspberry PI from the official CODESYS web store. I opened the CODESYS and started the online activation process using the ticket number I received. During the activation, the CODESYS software threw an exception and crashed. I was not able to see if the activation completed. After restarting CODESYS, I attempted to run the activation process again with the same ticket number. The License Manager now gives me an error stating that the ticket has already been activated/used. I am now stuck because my installation is not licensed, but the activation server believes my ticket has been consumed. Has anyone encountered this before? Is there a way to have the ticket status reset?
Last updated: 2025-10-08

Post by nz-dave on Bool turning on in case stament in wrong state? ^{CODESYS Forge} ^talk ^(Post)
I had the FB called via a for loop to call a few instances of my FB I have removed it the for loop and just called them 1 by 1. Seems to have sorted the problem. tho, i have other FB's and for loops doing the same thing but they are all fine. below is basically what was happening. var: mVibrator : ARRAY[1..GVL_Settings.Number_Of_Products] OF Main_Vibrator; end_var Controller(PRG) call: FOR v := 1 TO GVL_Settings.Number_Of_Products BY 1 DO; mVibrator[v] (); END_FOR So at state 30: the mVibrator[1].start was turning on 30: Main_Mixer.Start := TRUE; Process_State := 2; IF Main_mixer.Done THEN Main_Mixer.Start := FALSE; Control_State := 40; END_IF but its not till state 50: that it is actual in the code. 50: Main_Suction_valve.Open_Input := TRUE; mVibrator[1].Start := TRUE; Process_State := 4; IF GVL_Weigh_hopper.LoadCell_Weight = 0 THEN Main_Suction_valve.Open_Input := FALSE; mVibrator1.Start := FALSE; Control_State := 60; END_IF Thanks for your input.
Last updated: 2023-12-16

Post by acc00 on Main Task cycle too long leading to PLC Fail ^{CODESYS Forge} ^talk ^(Post)
I have 2 Wago PFC200 PLC, running with Runtime SP19 Patch 5, with the Redundant application. The PLC communicates as Modbus Master with at this moment 15 Modbus Slaves -later there will be 28 in total- (Drives, Power management units,...). These devices are connected in 2 rings (1 ring of Drives, 1 ring of Power Management units), with 2 Managed Moxa Switches being part of the ring. Each PLC is connected to one of these switches. The issue I'm encountering is that the Cycle time of the Active PLC goes very high when I'm closing the Drive ring (simulating an issue on one Cabinet supply, resulting in that one Drive shut down, which can happen on field quite often). As a result of this long cycle, the PLC fails and goes to Exception, and the Passive PLC does not take control of the system. A normal cycle is around 30ms for the Main task, and a few ms for the Ethercat task. When I monitor with Profiler, I see that in this Maximum Cycle, the main Task is only taking 13ms, so I'm not sure where the PLC is hanging for so long. Is the remaining cycle time the Redundant management/sync or something else? Thank you in advance.
Last updated: 2024-03-08

Post by zoronoa on J1939.ReceiveWatchdog & J1939.ReceiveParameterGroup ^{CODESYS Forge} ^talk ^(Post)
Hi, I'm trying to monitor a specific PGN which I have it sending a pulse every 500mS Problem: Using the Watchdog for the ECU does not really help me as I have multiple instances with separate PGNs, if a PGN goes ghost, the ECU watchdog won't be flagged as the others will be running. I found the J1939.ReceiveWatchdog & J1939.ReceiveParameterGroup function blocks and they seem like a good solution for my problem, I just can't get them to work from my understanding you just build the J1939.ReceiveParameterGroup once and then connect it's output to the J1939.ReceiveWatchdog, here's my CODE for the setup HEARTBEAT_TIMER(IN:= TRUE, PT:= T#1000MS); //turn-on delay because of initialization race IF HEARTBEAT_TIMER.Q= TRUE THEN Glob_Var.DisplayReceive.xExecute:= TRUE; Glob_Var.DisplayReceive.itfECU:= Valve_X; Glob_Var.DisplayReceive.dwPGN:= 65511; Glob_Var.DisplayWatchdog.xEnable:= TRUE; Glob_Var.DisplayWatchdog.itfParameterGroup:= Glob_Var.DisplayReceive.itfParameterGroup; Glob_Var.DisplayWatchdog.tTimeout:= T#1500MS; END_IF Notes: Glob_Var.DisplayReceive is of type J1939.ReceiveParameterGroup Glob_Var.DisplayWatchdog is of type J1939.ReceiveWatchdog The above code is done once and not cyclically I'm monitoring Glob_Var.DisplayWatchdog.xError cyclically
Last updated: 2024-03-13

Post by thewizard8 on Raspberry PI4 Serial Port ^{CODESYS Forge} ^talk ^(Post)
Hi Dear All, I'm using my raspberry PI4 as a CoDeSyS PLC (Build from scratch with custom electronics). I was able to implement all fieldbuses with the exception of Modbus Serial. I'm using the internal Port (GPIO) and I configured it in /etc/Codesyscontrol_user.cfg the following away: [SysCom] Linux.Devicefile.1=/dev/ttyUSB0 Linux.Devicefile.2=/dev/ttyS0 I'm using COM2 on Master configuration. I'm using a interface board from TTL/RS485 (bidirectional board), and it's works perfectly with other devices but not in CoDeSyS. I'm able to send data with python script and read it on my pc using putty, but when I use a modbus slave simulator to interface with codesys I always get red icons on master and slave. (Please find image attached). I'm pretty shure that this might be a bad parameter on my CoDeSyS runtime configurstion file. Can someone help me? I'm stuck and this is for my master degree certification.
Last updated: 2024-03-18

Post by rmaas on Fieldbus has lost synchronicity ^{CODESYS Forge} ^talk ^(Post)
Hi, On a gantry system with 2 axis i am getting the following error: SMC_DI_FIELDBUS_LOST_SYNCRONICITY This happens random, sometimes it happens every 5 minutes and sometimes no error for 2 hours... The Setup: - Using codesys 3.5 SP20 with all latest libs... - Kontron AL Pi-Tron CM4 with Preempt realtime patch (Raspberry Pi 4) - Codesys runtime 4.11.0.0 (single core) - CODESYS Control for Raspberry Pi SL licensed - Softmotion + CNC + Robotics licensed - 2x Leadshine EL8-EC400 servo drives - Axis group for a 2-axis T-Gantry Ethercat network wiring: Ethercat master softmotion -> Beckhoff EK1100 -> Servo drive #1 -> Servo drive #2 Ethercat Cycle time = 4ms Max Jitter = 140~150 What i have tried so far: - changed the sync offset from 20% to 30% - changed ethercat task priority from 1 to 0 Running tasks: - Ethercat tast: Prio = 0, Interval = 4ms - Main task: Prio = 1, Interval = 8ms - Visu task: Prio = 31, Interval = 100ms - Softmotion planning task: Prio = 15, Freewheeling - 3 other default tasks that were created by AC_Persist Motion fb's are called in the ethercat task... Does anyone have an idea how to fix this? Any help is greatly appreciated!
Last updated: 2024-04-11

Post by jose-coro on Trouble installing codesys 64 3.5.19.0 ^{CODESYS Forge} ^talk ^(Post)
I tried to intalling codesys 64 3.5.19.0, during the installation process I get the following messages: "One or more problems have appeared with the current version profile. please consult with the supplier to solve the problem. -The plugin '{ee08241a-dd43-445a-b0a1-de9f717d92e0}(exactly 3.5.19.0)' is required for the current version profile but is not installed. The plug-in '{c7880c90-68c0-4cf8-a726-f0ee72b11f86}(exactly 3.5.19.0)' is required for the current version profile but is not installed. The add-on '{973a3934-1ec6-4770-83a4-59677803015a}(exactly 3.5.19.0)' is required for the current version profile but is not installed. It is recommended to terminate the application." Then the following message appears: "This package could not be installed: CODESYS Compatibility Package 3.5.17.20”. After that the instalation continue and the folling message appears: "It is possible that packages from this path could not be installed: C:\Users...\Appdata\Local\Temp{EFE2F~1}\Packages"
Last updated: 2024-04-23

Post by k2saki on CNC / G01 Speed is very slow (or go-stop motion) in Continuous short segment . ^{CODESYS Forge} ^talk ^(Post)
I'm using CAD/CAM that outputs GCode with G01 many short segments from NURBS Curve, only X-Y axis. But CODESYS CNC motion seems much slower ( or stop-go motion ) in simulation mode than F-Value (I checked value from SMC_Interpolator - dVel ). In GCode G01, F value is F500, but movement is very slow, actual speed (dVel) is between 0 to 30 back and forth. I think very old CNC can move like that, but nowadays, a lot of CNC can move smoothly to process free curve ( somethimes option switch ) I tried to use G51 Dxx but I got the same result. My questions are 1) How do I improve CODESYS CNC motion in this case ? 2) How can I graph the sampling from dVel of SMC_Interpolate in CODESYS? From my GCode N2006 G01 X1.4364 Y-14.6847 F500 N2007 G01 X1.6759 Y-14.6768 N2008 G01 X1.9152 Y-14.6486 N2009 G01 X2.1547 Y-14.6400 N2010 G01 X2.3943 Y-14.6090 N2011 G01 X2.6336 Y-14.6002 N2012 G01 X2.8732 Y-14.5716 N2013 G01 X3.1127 Y-14.5634 N2014 G01 X3.3520 Y-14.5410 N2015 G01 X3.5915 Y-14.5336 N2016 G01 X3.8308 Y-14.5307 ... Thansk.
Last updated: 2024-04-29

Post by fizzy-bubblech on 3.5 P20 hangs - no response ^{CODESYS Forge} ^talk ^(Post)
Colleagues, i have the same problems. At the current time, I have to use the new version of the Codesys (3.5.20.10) + Control for Linux SL 4.11.0.0, but it works unstable : theree are a lot of freezes and not-respondings. I tested this on different projects: those that were created in the current version of the project, and those that were migrated from other versions of the development environment. Compiling a project without connecting to a controller is fast enough. The first downloading of the code into the controller, too. But as soon as you need to make edits and download a new code problems begin. Codesys "freezes" at the "Generation code" stage for 15-20 minutes. And only after that time loads the code into the controller. Previously, we used version 3.5.17.60 + Control for Linux SL 4.7.0.0. The process took 1-2 minutes. Do you have any ideas how can i fix it? I will be grateful for your answers.
Last updated: 2024-06-27

Post by gatto on Backtick identifiers ^{CODESYS Forge} ^talk ^(Post)
Hello, I’m in Codesys 3.5.20.40 and I try to declare the variable ´var1´ but I get an error. here : https://content.helpme-codesys.com/en/CODESYS%20Development%20System/_cds_rules.html i read : Backtick identifiers By using backticks, characters can also be used in identifiers that are not normally permitted in identifiers, such as special characters. The acute accent character is used for backticks: ´ (Unicode: U+02CA) The use of backticks is recommended in order to be able to use the same identifiers in CODESYS as in other programming languages or documents, such as circuit diagrams. Any character may be used between two backticks, except line breaks and other backticks. Keywords are also allowed as identifiers between backticks. Examples: ´Variable+9´ ´INT´ The backticks are part of each identifier and therefore var1 and ´var1´ are two different identifiers. Example PROGRAM PLC_PRG VAR var1 : INT; ´var1´: INT; END_VAR var1 := var1 + 1; ´var1´ := 12; Are there any limitations or is something missing in my development environment?
Last updated: 2025-10-28

Post by thn-power on Updating OPC UA Core Nodeset on PLS ^{CODESYS Forge} ^talk ^(Post)
Hi After much trail and error I think I found the root cause to my OPC UA problem. The problem is that I cannot manage to build and download a program with a a custom OPC UA Information model. We use a Weidmueller WL2000 PLS, but the problem also exsist on the Win V3 PLC. Our custom information model is based on the latest versions of the OPC UA Core Nodeset v 1.05.03 (2023-09-20) and UA/DI nodeset 1.04.0 (2022-11-03) Those nodesets are installed in the Codesys Information Model Repository (3.5.19.6) However, when trying to build I get the following error. [ERROR] Untitled1: Communication Manager [Device: PLC Logic: Application]: The information model http://opcfoundation.org/UA/ is required by http://bos.org/ with a minimal publication date from 15.12.2023 but the device has only a model from 15.09.2021 installed. Probably the information model from 15.09.2021 is missing in the information model repository. [ERROR] Untitled1: Communication Manager [Device: PLC Logic: Application]: The information model http://opcfoundation.org/UA/DI/ is required by http://bos.org/ with a minimal publication date from 03.11.2022 but the device has only a model from 09.03.2021 installed. Probably the information model from 09.03.2021 is missing in the information model repository. Build complete -- 2 errors, 1 warnings : No download possible I think the problem is that the UA Core nodeset is implemented in the PLC firmware (at least that in Siemens S7), and that only includes the "old" nodeset from 2021-09-21 etc. So the question is, how (or if?) can I transfer the new nodeset to the PLS? I have created separate Information models under Communication manager with the newer code nodesets (UA and DI). But it seems that the compiler does not recognize them being excising, neither in the Codesys IDE or on the PLC. Would have guessed that this is a common issue, sine many manufacturers use the latest versions of the OPC UA standard, and that it would be a solution to the problem.
Last updated: 2024-09-20

Post by mogam on Internal error:System.NullReferenceException: The object reference was not set to an object instance. ^{CODESYS Forge} ^talk ^(Post)
Hi everyone, I have a my App that reads values from a shared memory than 2 variables x,y were calculated. here as you can see in my code: PROGRAM PLC_PRG VAR szName : STRING := '/SM'; ( Name of the shared memory.) uxiSize : __UXINT := 646 * 2 * SIZEOF(REAL); ( Size of the shared memory. ) hShm : RTS_IEC_HANDLE; ( Handle to the shared memory ) pStart : POINTER TO REAL; ( Pointer to the first element in the memory ) pData : POINTER TO REAL; ( Pointer, which is incremented until the last sign in the memory is reached. ) shared_data :ARRAY[0..645, 0..1] OF REAL; velocity : ARRAY[0..2] OF REAL; ( Velocity array ) position : ARRAY[0..2] OF REAL; ( Position array ) angleDepth : ARRAY[0..645, 0..1] OF REAL; ( Angle and depth array ) xEndOfMemory : BOOL; x : ARRAY[0..645] OF REAL := 1.0; y : ARRAY[0..645] OF REAL := 1.0; (* Result of actions at the memory. *) OpenResult : RTS_IEC_RESULT; ReadResult : RTS_IEC_RESULT; PointerResult : RTS_IEC_RESULT; DeleteResult : RTS_IEC_RESULT; CloseResult : RTS_IEC_RESULT; i : INT; END_VAR ( Open the shared memory ) hShm := SysSharedMemoryOpen2(szName, 0, ADR(uxiSize), ADR(OpenResult)); IF hShm <> RTS_INVALID_HANDLE THEN (* Read the entire shared memory table *) SysSharedMemoryRead(hShm:= hShm, ulOffset:= 0, pbyData:= ADR(shared_data), ulSize:= uxiSize, pResult:= ADR(ReadResult)); (* Fetch the pointer from the shared memory. The pointer is pointing to the first element address *) //pStart := SysSharedMemoryGetPointer(hShm, ADR(PointerResult)); (* Close the shared memory *) //CloseResult := SysSharedMemoryClose(hShm := hShm); (* Read velocity and position data from the shared memory *) FOR i := 0 TO 2 DO velocity[i] := shared_data[i, 0]; position[i] := shared_data[i, 1]; END_FOR; (* Read angle and depth data from the shared memory *) FOR i := 0 TO 645 DO angleDepth[i, 0] := shared_data[(i + 6), 0]; angleDepth[i, 1] := shared_data[(i + 6), 1]; END_FOR; FOR i := 0 TO 645 DO x[i] := angleDepth[i, 1]*COS(angleDepth[i, 0]); y[i] := angleDepth[i, 1]*SIN(angleDepth[i, 0]); END_FOR; END_IF For these values an XY-CHART needs to be done and when i create a visualisation and set the x data and y data when i try to compile, i recieve this error: ------ Übersetzungslauf gestartet: Applikation: Device.Read_App ------- Code typisieren ... [FEHLER] Internal error:System.NullReferenceException: Der Objektverweis wurde nicht auf eine Objektinstanz festgelegt. bei _3S.CoDeSys.LanguageModelManager.LDateType.Accept(ITypeVisitor typvis) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IArrayType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IPointerType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei ..(_ISignature , _IPreCompileContext ) bei ..( ) bei ..(String ) bei ..(String , IVariable[]& , ISignature[]& ) bei ..(String , IVariable[]& , ISignature[]& , IScope& ) bei ..visit(_IVariableExpression , AccessFlag ) bei ..(_IUserdefType ) bei ..(_IVariable , IScope5 , _ICompileContext , _ISignature ) bei ..(_ISignature , IScope5 , _ICompileContext ) bei _3S.CoDeSys.Compiler35140.Compiler.(_ICompileContext , _IPreCompileContext , _ICompileContext , IProgressCallback ) bei _3S.CoDeSys.Compiler35140.Compiler.(_ICompileContext , Boolean , Boolean , _IPreCompileContext , _IPreCompileContext , _ICompileContext , Boolean , Boolean& , IProgressCallback ) bei _3S.CoDeSys.Compiler35140.Compiler.(Guid , Boolean , Boolean , Boolean , Boolean& , _ICompileContext& , _ICompileContext& , IProgressCallback , Boolean , Boolean ) Kompilierung abgeschlossen -- 1 Fehler, 0 Warnungen Übersetzung abgeschlossen -- 1 Fehler, 0 Warnungen : Kein Download möglich!
Last updated: 2024-05-24

Post by paulg on RasPi CAA Serial example - unexpected behavior during debug ^{CODESYS Forge} ^talk ^(Post)
I've trimmed down the CAA Serial Codesys example to only listen on one port but, when stepping through the Case structure in debug mode, it jumps out of the structure during a specific point in every scan (I'll point it out below after describing the setup and listing the code). I'm using a Pi 4 Model B, and I have an Arduino Nano Every plugged in via USB which is streaming the following serial message at 1 Hz: Time since opening connection: 1 s Time since opening connection: 2 s ...and so on. The Pi shows the Nano at /dev/ttyACM0 so I edited CODESYSControl_User.cfg to read: Linux.Devicefile=/dev/ttyACM The code in my PLC_PRG is (ignore some of the comments, I hadn't deleted them out from the original example): PROGRAM PLC_PRG VAR xStartTest : BOOL:= TRUE; iState : INT; xTestDone : BOOL;(* True, when the test was done succesfully *) (* Settings to communicate with the COM Port *) aCom1Params : ARRAY [1..7] OF COM.PARAMETER; como1 : COM.Open; comc1 : COM.Close; comw1 : COM.Write; comr1 : COM.Read; //sWrite : STRING := 'Test String!'; sRead : STRING(25); szRead : CAA.SIZE; xCom1OpenError : BOOL; xCom1CloseError : BOOL; xCom1WriteError : BOOL; xCom1ReadError : BOOL; END_VAR //This example shows the communication of two COM Ports with each other. //The first one writes a string of characters, which is read by the second one. //After successful execution, the two COM Ports are closed and the test is done. IF xStartTest THEN CASE iState OF 0: //The parameters are set for the COM Port aCom1Params[1].udiParameterId := COM.CAA_Parameter_Constants.udiPort; aCom1Params[1].udiValue := 1; // the correct Port should be adapted aCom1Params[2].udiParameterId := COM.CAA_Parameter_Constants.udiBaudrate; aCom1Params[2].udiValue := 115200; aCom1Params[3].udiParameterId := COM.CAA_Parameter_Constants.udiParity; aCom1Params[3].udiValue := INT_TO_UDINT(COM.PARITY.NONE); aCom1Params[4].udiParameterId := COM.CAA_Parameter_Constants.udiStopBits; aCom1Params[4].udiValue := INT_TO_UDINT(COM.STOPBIT.ONESTOPBIT); aCom1Params[5].udiParameterId := COM.CAA_Parameter_Constants.udiTimeout; aCom1Params[5].udiValue := 0; aCom1Params[6].udiParameterId := COM.CAA_Parameter_Constants.udiByteSize; aCom1Params[6].udiValue := 8; aCom1Params[7].udiParameterId := COM.CAA_Parameter_Constants.udiBinary; aCom1Params[7].udiValue := 0; //The first Port is opened with the given parameters como1(xExecute := TRUE, usiListLength:=SIZEOF(aCom1Params)/SIZEOF(COM.PARAMETER),pParameterList:= ADR(aCom1Params)); IF como1.xError THEN xCom1OpenError := TRUE; iState := 1000; END_IF //After a successful opening, the next state is reached IF como1.xDone THEN iState := 15; END_IF 15: // the reading process is started comr1(xExecute := TRUE,hCom:= como1.hCom, pBuffer:= ADR(sRead), szBuffer:= SIZEOF(sRead)); IF comr1.xError THEN xCom1ReadError := TRUE; END_IF //After completion the size of the written bytes are saved IF comr1.xDone OR comr1.xError THEN szRead := comr1.szSize; iState := 20; END_IF 20: // If everything was successful the ports are closed and the handles are released comc1(xExecute := TRUE,hCom:= como1.hCom); IF comc1.xError THEN xCom1CloseError := TRUE; END_IF IF comc1.xDone OR comc1.xError THEN iState := 25; END_IF 25: // The first port is closed and the used handle released xTestDone := TRUE; xStartTest := FALSE; iState := 0; como1(xExecute := FALSE); comw1(xExecute := FALSE); comc1(xExecute := FALSE); ELSE iState := 0; END_CASE END_IF I realize as I write this that the .udiPort should be 0 and not 1, but that shouldn't be causing the issue I'm seeing. I'm forcing xStartTest:=TRUE every scan so that I can step into each line and observe what's happening. What I see is that the port parameters are set and the port is opened with no errors, but the code jumps out of the case structure to the last line every time it reaches (and I step into) the iState:=15 line (at the end of the iState:=0 block). So every scan cycle it goes through the block for iState=0 and jumps out at the same spot. I'm a little new to PLC programming so I may be misunderstanding the flow, but shouldn't this case structure keep moving down in the same scan? If it only handles one case per scan, why doesn't the value of iState persist? Thanks! Update: I restarted the Codesys control today and I was then able to see an error for como1.eError of "WRONG_PARAMETER". I tried doing some digging and another post made me think I should add another line to CODESYSControl_User.cfg, so I now have: [SysCom] Linux.Devicefile=/dev/ttyACM portnum := COM.SysCom.SYS_COMPORT1 So now when I set .udiPort to 1, I get "NO_ERROR" but I also don't read anything from the port (i.e. szRead = 0 always). If I try setting the port to 0 (which I'm confused about, because I added a COMPORT1 line but the device shows on the Pi as ACM0), I get the "WRONG_PARAMETER" error again. Is there an easier way to troubleshoot the Pi and view what ports the Codesys runtime is actually able to see while the Pi is running?
Last updated: 2024-06-06

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